Harmonic Motion

(related to harmony (the pleasing/smooth/continuous effect))

• Harmonic motion is a simple type of periodic motion in which the motion is repeated at equal
time intervals. Examples can be motion of scotch yoke mechanism, slider crank mechanism,
spring mass system and simple pendulum.
• NOTE: Oscillatory motion is vibratory motion which can be periodic as well as irregular in
time (earth quake). SHM is a special case of vibratory motion which is periodic and in which
acceleration remains proportional to the displacement and acts towards the mean position.
Remember: If a given Since harmonic motion repeats it self
motion x is harmonic it periodically with time we can represent this
must satisfy the following. motion with a sinusoidal wave form.
ẍ = -ω2x

ẋ=

ẍ=
Q
P Notice that acceleration ẍ is proportional to
θ displacement x i.e. SHM. Also notice the similarity
o b/w UCM and SHM. In both cases the point
reciprocates on its amplitude axis. Note x = Acosωt
also represents harmonic motion.
Cycle:
Definitions
A cycle of harmonic motion is said to be completed when the mass starting from its static
equilibrium (zero/reference) position reaches its positive maximum position, comes back to
the equilibrium, reaches its negative maximum position, and finally return back to its
equilibrium position again.
One complete revolution of point P (2π radians) is
equal to one cycle of the harmonic motion.

Amplitude:
The maximum displacement of a vibrating body from its equilibrium position is known as
the amplitude.
Time Period (τ):
Time taken to complete one cycle of motion is known
Amplitude = A as the time period of oscillation. There are 2π radians
in one cycle therefore:

Where ω is the angular velocity in rad/s or the circular

frequency.
Frequency of oscillations (f):
Number of cycles per unit time is known as the linear frequency, frequency of oscillations or
simply frequency. Its unit is cycles/sec (hertz) Hz or simply s -1.

Phase Angle of Displacement (φ):

In vibrations phase is the angle that measures how much the displacement (x) of the mass lags or
leads the peak value of the amplitude at an instant when the motion is observed.
Amax
Q/ Q/
x Q

ωt If x is leading
(ωt+φ) (ωt-φ) ωt
φ is -ve
φ ωt = 0
o o φ
If x is lagging
φ is +ve
x Q

-Amax
x is lagging Amax x is leading -Amax
 Phase Difference b/w Two Harmonic Vectors
x1
x2
x1
ωt
φ
x2
φ
ωt
o o

x2 is leading x1 by φ x2 is lagging x1 by φ
Hence, Hence,
x1 = A1sinωt x1 = A1sinωt
x2 = A2sin(ωt+φ) x2 = A2sin(ωt-φ)
Therefore, it is also the difference in angle (radian) by which one vector (or harmonic motion)
lead or lags the other vector (harmonic motion).

φ A φ
A Amax 1
Amax 2 Amax 1 Amax 2

0 ωt
0

x2 Leading by φ x2 Lagging by φ

Maximum of x2 occurs earlier Maximum of x2 occurs later in

in time relative to x1 time relative to x1
 Representing Harmonic Motion
1 ) Vector Format Harmonic motion can be represented by a rotating vector OP of
magnitude A. This vector rotates at angular velocity ω.
We can write,
X = OP = x + y = Acosθ + Asinθ = A (cosθ + sinθ) (θ = ωt)

2) Complex number Format

Harmonic motion can also be written in terms
of a complex number or a complex vector.

X = a + ib

more convenient

X = A(cosθ + isinθ) = Aeiθ = Aeiωt

A = (a2+b2)1/2 & θ = tan-1 (b/a)

 = A(cosωt + isinωt) = Acosωt + iAsinωt

= ωAcosωt + i2 ωAsinωt
= - ωAsinωt + iωAcosωt

= - ω2Acosωt + iω2Asinωt

• In harmonic motion
displacement, velocity &
acceleration are called
rotating vectors

• These trigonometric substitutions shows

that in a harmonic motion/oscillation the
velocity vector leads the displacement
vector by 90o and the acceleration vector
leads the displacement vector by 180o .
 Addition of Harmonic Motions
Since vectors can be represented by complex numbers we can perform vector mechanics on
harmonic motions. Then Remember:
If θ = angle b/w two given
harmonic motions X1 & X2 .
α = angle b/w resultant
motion X and motion X1.
ωt = angle b/w X1 & real
axis.
θ A = amplitude of resultant
motion X.
A1 = amplitude of X1.
A2 = amplitude of X2.
*Parallelogram law is valid*
Application: Some times machines or Useful Formulas:
different elements within a single machine
can exhibit a phenomena of Beat which is
addition of two harmonic motions with close
frequencies, period and amplitudes AKA
periodic variation in volume of a sound. It
can be reduced by following maintenance
checks, providing vibration isolation or
changing the operating speeds of closely
placed machines.
Phenomena of Beat Vibration
Beat vibrations takes place when two harmonic/vibratory motions having same amplitudes but
slightly different frequencies (within 20% difference) are superimposed (add) on each other.
During beat vibrations the amplitude of vibration varies periodically.

Areas of Applications
1) Electrical power houses (due to high voltages)
2) Large floating structures (off shore rigs and artificial islands (ocean wave frequency can
approach frequency of the structure))
3) Sound waves
4) Multi DOF vibration systems (frequencies can become close to each other generating beats)
5) Several closely placed machines that are operating at comparable speeds)

Adding to harmonic motions and using formula for

cos A + cos B = 2cos((A+B)/2)cos((A-B)/2)

We get:

δ = Beat frequency (a small number)

2X = Amplitude of beat vibration (go up!!)
Decibel
Sometimes vibration quantities like displacement, velocity, acceleration and pressure (sound
waves) needs to be expressed in form of a ratio for relative comparison purpose. This notation is
known as decibel. It is of much use in acoustic applications.

Where Xo is a reference value.

For acceleration Xo = 9.8×10-6 m/s2
Value X can be measured using vibration sensors.
Time Domain & Frequency Domain
• Periodic vibration carries several frequencies embedded in it hence for better understanding of
the situation it is sometimes advantageous to use frequency domain representation.
• Vibratory motion can be viewed in time domain and/or in frequency domain.
• In fact any time signal can be converted to frequency domain by using ready made computer
algorithm of Fast Fourier Transform (FFT). This function is available in Matlab.
• Frequency domain analysis is also a popular technique of numerical structural dynamics study.
In this technique the response (stress/strain) for a body can be measured when the body is
subjected to various loads applied at various frequencies.

Harmonic Vibration

Strength of an reducing as
ω increases.

Periodic Vibration
 Structural Dynamics Simulations
There are three techniques by which structural dynamics simulations on a continuum can be
performed:

1) Eigen Frequency Analysis (determination of modes of vibration at a particular frequency)

2) Frequency Domain Analysis (determination of stress/strain response at a given load applied
at some given frequency)
3) Time Domain Analysis (aka transient analysis) (determination of stress/strain response when
a given load is some function of time)

Each mode shape
corresponds to a
different frequency!
F = FoSinωt
Applied load as a
harmonic function of
time with time period
τ = 2π/ω. Simulation
can be performed for
one time period only.

 Discrete vibration models can also be simulated

using Lumped Mechanical System Interface in
Comsol version 5.3 and onwards.
Mode Shapes of Vibrating String